WO2020090055A1 - Machine-outil - Google Patents

Machine-outil Download PDF

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Publication number
WO2020090055A1
WO2020090055A1 PCT/JP2018/040596 JP2018040596W WO2020090055A1 WO 2020090055 A1 WO2020090055 A1 WO 2020090055A1 JP 2018040596 W JP2018040596 W JP 2018040596W WO 2020090055 A1 WO2020090055 A1 WO 2020090055A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
tool
shutter
motor
spindle
Prior art date
Application number
PCT/JP2018/040596
Other languages
English (en)
Japanese (ja)
Inventor
裕児 佐野
政寿 坂本
中島　徹
Original Assignee
株式会社牧野フライス製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社牧野フライス製作所 filed Critical 株式会社牧野フライス製作所
Priority to US17/289,853 priority Critical patent/US11780040B2/en
Priority to JP2020554683A priority patent/JP7166357B2/ja
Priority to PCT/JP2018/040596 priority patent/WO2020090055A1/fr
Publication of WO2020090055A1 publication Critical patent/WO2020090055A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15773—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking the tool from a storage device and passing it on to other transfer devices, which insert it in a spindle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/0042—Devices for removing chips
    • B23Q11/005—Devices for removing chips by blowing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/08—Protective coverings for parts of machine tools; Splash guards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/08—Protective coverings for parts of machine tools; Splash guards
    • B23Q11/0891—Protective coverings for parts of machine tools; Splash guards arranged between the working area and the operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
    • B23Q3/15722—Rotary discs or drums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
    • B23Q3/15726—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane parallel to the axis of the spindle
    • B23Q3/1574—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane parallel to the axis of the spindle the axis of the stored tools being arranged perpendicularly to the rotating or circulating plane of the storage means
    • B23Q3/15746—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane parallel to the axis of the spindle the axis of the stored tools being arranged perpendicularly to the rotating or circulating plane of the storage means the storage means comprising pivotable tool storage elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B23Q2003/15532—Storage devices; Drive mechanisms therefor the storage device including tool pots, adaptors or the like
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/11—Tool changing with safety means
    • Y10T483/115—Guard
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
    • Y10T483/1748—Tool changer between spindle and matrix
    • Y10T483/1752—Tool changer between spindle and matrix including tool holder pivotable about axis
    • Y10T483/1755—Plural tool holders pivotable about common axis
    • Y10T483/1757—Plural tool holders pivotable about common axis including intermediate tool changer
    • Y10T483/176—Intermediate tool changer includes tool holder pivotable about axis
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1864—Tool transfer to or from matrix including tool pot or adapter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1873—Indexing matrix
    • Y10T483/1882—Rotary disc

Definitions

  • This application relates to machine tools.
  • the machine tool may have a tool changing device that accommodates a plurality of tools in order to change the tools attached to the spindle.
  • Patent Document 1 discloses a machine tool that includes a tool magazine that accommodates a plurality of tools and a tool change arm that is arranged between the spindle and the tool magazine.
  • the chamber in which the spindle is arranged and the chamber in which the tool magazine and the tool changing arm are arranged are separated by a cover.
  • An opening is formed in the cover, and a side door is provided in the opening.
  • the side door is opened when changing tools, and the side door is closed when machining a workpiece in order to prevent splash of coolant and chips.
  • the opening / closing operation of the side door is synchronized with the movement of the tool changing arm by the cam mechanism provided in the drive device of the tool changing arm. With such a mechanical structure, the operations of the tool changing arm and the side door are synchronized.
  • Patent Document 2 discloses an ATC shutter of an automatic tool changer (ATC (Automatic Tool Changer)).
  • the ATC shutter is configured to close during work and open during tool change.
  • the tool is replaced by a rotating arm.
  • a limit switch is provided at each of the opening start position and the opening end position of the ATC shutter, and when the ATC shutter reaches these positions, an opening start signal and an opening end signal are transmitted from the limit switch, respectively. ..
  • the opening start signal and the opening end signal of the ATC shutter are transmitted to the drive source of the rotary arm and used as the rotation start signal and the rotation end signal of the rotary arm, respectively. In this way, the operations of the ATC shutter and the rotary arm are associated with each other by the limit switches provided at the opening start position and the opening end position of the ATC shutter.
  • One aspect of the present disclosure is a machine tool for machining a workpiece in a machining chamber by using a tool selected from a plurality of tools stored in the tool chamber, and a spindle of the machining chamber and a next tool of the tool chamber.
  • a storage device that stores a predetermined position of the associated shutter, a position of the shutter that is detected by the shutter position detector, and a predetermined movement of the arm based on the predetermined position of the shutter that is stored in the storage device.
  • a control device configured to perform a machine tool comprising a.
  • an arm operation is performed based on a shutter position detected by a shutter position detector and a specific shutter position stored in a storage device that is associated with the arm operation. Is executed. Since the shutter position detector can detect the shutter position in the entire range between the fully open position and the fully closed position, the timing at which the arm operation is executed is adjusted by adjusting the stored shutter position. be able to. Therefore, it is possible to optimize the timing of executing the operation of the arm in association with the operation of the shutter, thereby shortening the tool change time.
  • the arm is rotatable between a tool engagement position for engaging the tool mounted on the spindle and a tool in the next tool standby position, and an arm standby position for the arm to wait.
  • the arm may be translatable along the axis of rotation of the arm between an advanced position for removing the tool from the spindle and a retracted position for engaging the tool with the spindle, and the machine tool may
  • a second motor for rotating the arm and a third motor for translating the arm may be provided, and the control device includes a shutter position detected by the shutter position detector, and a storage device.
  • At least one of the second motor and the third motor may be controlled so as to control at least one of the rotation operation and the translational operation of the arm based on the predetermined position of the shutter stored in.
  • the rotation and translation of the arm are operated by separate second and third motors, so that the movement of the arm can be adjusted more finely.
  • the control device controls the second motor to rotate the arm from the arm standby position to the tool engagement position when the shutter position detector detects that the shutter has moved from the fully closed position to the predetermined position. May be controlled. In this case, since the arm also rotates at the same time as the shutter is open, the rotation operation of the arm can be completed earlier.
  • the machine tool may be provided with an arm translation position detector capable of detecting the translational position of the arm in the entire range between the forward movement position and the backward movement position.
  • the first motor is controlled to start moving the shutter from the fully open position to the fully closed position.
  • it detects that the arm has started moving from the fully open position to the predetermined position, it confirms whether the arm has completed the rotation from the tool engagement position to the arm standby position. It may be controlled to stop the movement.
  • the shutter starts to close when the arm moves to the retracted position (that is, the tool is attached to the spindle), and the arm also rotates simultaneously while the shutter is closed, so that the rotation operation of the arm ends earlier. be able to.
  • the machine tool may include a blower that blows gas onto the shank portion of the tool held on the arm as the arm advances or retracts, and the storage device is either a standard tool or a precision tool. If the tool mounted on the spindle is a high-precision tool, the controller may make the translation speed of the arm slower when the arm moves forward or backward than that of the standard tool, or The arm may be reciprocated a plurality of times to increase the time for blowing the gas. In this case, the gas can be sprayed for a long time on the shank portion of the high precision tool.
  • the control device may first complete the rotation operation of the arm from the arm standby position to the tool engagement position by the second motor when the spindle moves to the tool exchange position.
  • the held tool may be engaged with the arm.
  • FIG. 1 is a schematic side view showing a machine tool 100 according to the embodiment.
  • the machine tool 100 can be, for example, a horizontal machining center, and the rotation axis Osp of the spindle 5 is set in the horizontal direction.
  • the machine tool 100 may be a vertical type or may be a machine tool other than a machining center.
  • the machine tool 100 includes, for example, a bed (base) 1, a table 2, a column 3, a spindle head 4, a spindle 5, a splash guard 6 (see FIG. 2), a shutter 7, and a tool changing device 50.
  • the machine tool 100 may further include other components. It should be noted that the splash guard 6 and the shutter 7 are omitted in FIG. 1 for easy understanding.
  • the direction parallel to the rotation axis Osp is the Z-axis direction (also referred to as the front-back direction).
  • the side where the table 2 is with respect to the column 3 is the front, and the opposite side is the rear.
  • the vertical direction is the Y-axis direction (also referred to as the vertical direction), and the direction perpendicular to both the Z-axis and the Y-axis is the X-axis direction (also referred to as the left-right direction).
  • Bed 1 is installed on the floor of a factory, for example.
  • the table 2 supports the work.
  • the workpiece can be directly attached to the table 2 by a jig, or in other embodiments, the workpiece may be indirectly attached to the table 2 via a pallet.
  • the table 2 is movably arranged on the bed 1.
  • FIG. 2 is a schematic plan view showing the machine tool 100 of FIG.
  • the machine tool 100 includes a Z-axis drive device 11 that moves the table 2 relative to the bed 1 along the Z-axis.
  • the Z-axis drive device 11 has a pair of linear guides L1 arranged on the bed 1 along the Z-axis, and the table 2 moves on the rails of the linear guide L1.
  • the Z-axis drive device 11 further includes a ball screw B1 connected to the table 2 and a motor M1 for rotating the ball screw B1.
  • the feeding of the table 2 in the Z-axis direction by the Z-axis drive device 11 is controlled by the NC device 70.
  • the column 3 is movably arranged on the bed 1 so as to face the table 2 in the Z-axis direction.
  • the machine tool 100 includes an X-axis drive device 12 that moves the column 3 along the X-axis.
  • the X-axis drive device 12 has a pair of linear guides L2 arranged on the bed 1 along the X-axis, and the column 3 moves on the rails of the linear guide L2.
  • the X-axis drive device 12 further includes a ball screw B2 connected to the column 3 and a motor M2 for rotating the ball screw B2.
  • the feeding of the column 3 in the X-axis direction by the X-axis drive device 12 is controlled by the NC device 70.
  • the spindle head 4 is movably arranged on the column 3.
  • the spindle head 4 penetrates from the front surface to the rear surface of the column 3.
  • the machine tool 100 includes a Y-axis drive device 13 that moves the spindle head 4 along the Y-axis.
  • the Y-axis drive device 13 has a linear guide (not shown) arranged in the column 3 along the Y-axis, and the spindle head 4 moves on the rail of the linear guide.
  • the Y-axis drive device 13 further includes a ball screw (not shown) connected to the spindle head 4 and a motor M3 for rotating the ball screw.
  • the feed of the spindle head 4 in the Y-axis direction by the Y-axis drive device 13 is controlled by the NC device 70.
  • the spindle 5 is rotatably arranged inside the spindle head 4.
  • the spindle 5 holds the tool T.
  • the rotation of the main shaft 5 is controlled by the NC device 70.
  • the splash guard 6 separates a processing room R1 for processing a work and a tool storage room R2 for accommodating a plurality of tools T.
  • the splash guard 6 prevents the coolant and chips from scattering outside the processing chamber R1.
  • FIG. 3 is a schematic perspective view showing the shutter 7 and the arm 53.
  • the splash guard 6 has an opening 6a through which the tool T is inserted when the tool is replaced.
  • the shutter 7 is provided in the opening 6a.
  • the shutter 7 is movable between a fully open position as shown in FIG. 3 and a fully closed position (see FIG. 6).
  • the machine tool 100 includes a first motor SV1 for opening and closing the shutter 7.
  • the first motor SV1 is fixed to the cover 7c.
  • the cover 7c can be fixed to a fixed component such as the splash guard 6 or another frame.
  • the screw portion 7a is connected to the shaft of the first motor SV1.
  • a nut portion 7b is engaged with the screw portion 7a.
  • the nut portion 7b is connected to the shutter 7.
  • the screw portion 7a and the nut portion 7b are surrounded by a cover 7c, and are thereby protected from coolant and chips.
  • the first motor SV1 can be, for example, a servo motor and can include an encoder EN1.
  • the encoder EN1 functions as a shutter position detector that can detect the position of the shutter 7 in the entire range between the fully open position and the fully closed position.
  • the processor 61 of the machine control device 60 controls the pitch of the screw portion 7a and the nut portion 7b stored in the memory 62 and the rotation of the first motor SV1 received from the encoder EN1.
  • the amount of movement of the shutter 7 from the origin (for example, the fully open position or the fully closed position) can be calculated based on the amount, and thus the position of the shutter 7 can be detected.
  • the encoder EN1 can function as a shutter position detector.
  • the tool changer 50 is configured to accommodate a plurality of tools T and replace the tools T attached to the spindle 5.
  • the tool changing device 50 has a tool magazine 51, a shifter 52, and an arm 53.
  • the tool magazine 51 accommodates a plurality of tools T.
  • the tool magazine 51 has, for example, a magazine body 51a and a plurality of tool pot holding portions 51b.
  • the magazine main body 51a has a generally annular shape or a circular endless shape (or a closed linear shape).
  • the magazine main body 51a is arranged on the side of the main shaft 5 such that its endless shape is along the YZ plane.
  • the arrangement direction of the magazine body 51a is not limited to this.
  • the magazine body 51a can be rotatably supported by, for example, a plurality of rollers 51d provided on the frame 51c.
  • the magazine main body 51a is connected to a driving device such as a motor via a belt, a chain and / or a gear (not shown).
  • the magazine body 51a is configured to rotate about a rotation axis Om parallel to the X-axis direction. The rotation of the magazine body 51a is controlled by the machine controller 60.
  • the plurality of tool pot holders 51b are arranged along the endless shape of the magazine body 51a. Therefore, as the magazine body 51a rotates, the plurality of tool pot holders 51b move along the circular circulation path (or endless path) along the YZ plane.
  • the tool magazine 51 is configured to place the selected tool pot holder 51b at the selected position S1.
  • Each of the tool pot holding portions 51b holds the tool pot P detachably.
  • the tool pot holding portion 51b can include elastic means such as a leaf spring for holding the tool pot P, for example.
  • the tool pot P stores the tool T in a detachable manner by using a well-known means (not shown).
  • the shifter 52 can move the tool pot P between the tool pot holding portion 41b at the selected position S1 and the next tool standby position S2.
  • the shifter 52 is arranged between the spindle 5 and the tool magazine 51.
  • the shifter 52 has a claw-shaped clamp mechanism (not shown) capable of clamping and unclamping the tool pot P.
  • the shifter 52 is rotatable around the rotation axis Osh.
  • the shifter 52 moves around the rotation axis Osh between the selected position S1 and the next tool standby position S2.
  • the next tool standby position S2 is located at the same angle as the selected position S1 in the circumferential direction of the tool magazine 51. Further, the next tool standby position S2 is located inside the selected position S1 in the radial direction of the tool magazine 51.
  • the rotation angle between the selected position S1 and the next tool standby position S2 is 90 °, for example.
  • the rotation operation of the shifter 52 can be driven by, for example, a motor (not shown). The rotation operation of the shifter 52 is controlled by the machine controller 60.
  • the arm 53 exchanges the tool T between the spindle 5 and the tool pot P at the next tool standby position S2.
  • the arm 53 is arranged between the main shaft 5 and the shifter 52.
  • the arm 53 is capable of rotating about a rotation axis Oa parallel to the rotation axis Osp of the main shaft 5 and translating along the rotation axis Oa.
  • the arm 53 is rotatably and translationally attached to the gear box 55.
  • the gear box 55 accommodates gears 53d to 53g (see FIG. 4, which will be described later in detail) for operating the arm 53.
  • the arm 53 has a shaft portion 53a and an arm portion 53b.
  • the shaft portion 53a extends along the rotation axis Oa.
  • the arm portion 53b extends from the shaft portion 53a to both sides in the radial direction, and includes two grippers 53c for gripping a tool at both ends thereof.
  • FIG. 4 is a schematic side view showing the arm 53 and the arm driving device 54 when the arm 53 is at the forward movement position St1
  • FIG. 5 is a view showing the arm 53 and the arm driving device 54 when the arm 53 is at the backward movement position St2. It is a schematic side view which shows.
  • the shaft portion 53a of the arm 53 includes a first shaft portion 53a1, a second shaft portion 53a2, and a joint 53a3.
  • the first shaft portion 53a1 is rotatably attached to the gear box 55 and does not translate along the rotation axis Oa.
  • the second shaft portion 53a2 is arranged radially inside the first shaft portion 53a1 and translates inside the first shaft portion 53a1 along the rotation axis Oa.
  • the arm portion 53b is fixed to the second shaft portion 53a2.
  • a spline 53a4 including a protrusion extending along the rotation axis Oa is provided on a part of the second shaft portion 53a2, and a corresponding groove (not shown) is formed on the inner peripheral surface of the first shaft portion 53a1. It is provided. With such a configuration, the rotational movement of the first shaft portion 53a1 is transmitted to the second shaft portion 53a2 and the arm portion 53b fixed thereto.
  • the joint 53a3 is rotatably attached to the second shaft portion 53a2. Therefore, the joint 53a3 translates with the second shaft portion 53a2, but does not rotate with the second shaft portion 53a2.
  • the machine tool 100 includes an arm drive device 54 for operating the arm 53.
  • the arm driving device 54 has a second motor SV2 for rotating the arm portion 53b and a third motor SV3 for translating the arm portion 53b.
  • the first bevel gear 53d is connected to the shaft of the second motor SV2.
  • the first shaft portion 53a1 of the arm 53 is provided with a second bevel gear 53e that meshes with the first bevel gear 53d.
  • the second motor SV2 rotates the first bevel gear 53d
  • the second bevel gear 53e and the first shaft portion 53a1 rotate around the rotation axis Oa, and further, the second shaft via the spline 53a4.
  • the part 53a2 and the arm part 53b rotate around the rotation axis Oa.
  • the rotation of the arm portion 53b is controlled by the machine control device 60.
  • the second motor SV2 can be, for example, a servo motor and can include an encoder EN2.
  • the encoder EN2 functions as an arm rotation position detector that can detect the rotation position of the arm portion 53b over the entire area.
  • the processor 61 of the machine control device 60 causes the gear ratio between the first bevel gear 53d and the second bevel gear 53e stored in the memory 62 and the second motor SV2 received from the encoder EN2.
  • the rotation amount of the arm portion 53b from the origin (for example, the tool engagement position Sr1 or the arm standby position Sr2 (described later in detail)) can be calculated based on the rotation amount of the arm portion 53b.
  • the rotational position can be detected.
  • the encoder EN2 can function as an arm rotation position detector.
  • a third bevel gear 53f is connected to the shaft of the third motor SV3, and a fourth bevel gear 53g that meshes with the third bevel gear 53f is rotatably attached to the gear box 55.
  • the fourth bevel gear 53g and the joint 53a3 of the arm 53 are connected by a crank 53h.
  • One of the connecting portions of the crank 53h is fixed to the fourth bevel gear 53g, and the other of the connecting portions is connected to the joint 53a3 rotatably and vertically movable in FIG.
  • the third motor SV3 can be, for example, a servomotor and can include an encoder EN3.
  • the encoder EN3 functions as an arm translation position detector capable of detecting the translation position of the arm portion 53b over the entire area.
  • the processor 61 of the machine control device 60 causes the gear ratio between the third bevel gear 53f and the fourth bevel gear 53g stored in the memory 62 and the length between the connecting portions of the crank 53h, Based on the rotation amount of the third motor SV3 received from the encoder EN3 and the rotation amount of the arm 53 from the origin (for example, the forward movement position St1 or the backward movement position St2), the translation amount of the arm 53 can be calculated.
  • the translational position can be detected.
  • the encoder EN3 can function as an arm translational position detector.
  • FIGS. 6 to 17 are schematic diagrams showing the operation of the shutter 7 and the arm 53.
  • the left diagram is a schematic plan view and the right diagram is a schematic front view.
  • the long tool T1 attached to the spindle 5 and the short tool T2 at the next tool standby position S2 are exchanged.
  • the arm 53 is a tool engaging member for engaging the tool T mounted on the spindle 5 and the tool T at the next tool standby position S2.
  • the combined position Sr1 see the right diagrams in FIGS. 8, 9, 10, 11, 12, 13, and 14
  • the arm standby position Sr2 for the arm 53 to stand by see FIGS. 6, 7, 15, 16, and 17). (See the figure on the right).
  • the arm 53 is arranged such that one of the grippers 53c is located in the processing chamber R1 and the other is located in the tool storage chamber R2.
  • one of the grippers 53c engages with the holder of the tool T mounted on the spindle 5, and the other engages with the holder of the tool T at the next tool standby position S2.
  • the arm standby position Sr2 (right side of FIG. 6) is rotated clockwise from the tool engagement position Sr1 (right side of FIG. 8) around the rotation axis Oa. Alternatively, they are separated by 90 ° counterclockwise. 6 at the arm standby position Sr2, the arm 53 is arranged such that both grippers 53c are located in the tool storage room R2.
  • the machine control device 60 controls the operation of the tool changing device 50 based on a control program. Further, the machine control device 60 includes other components in the machine tool 100 other than the components controlled by the NC device 70 (for example, the X-axis driving device 12, the Y-axis driving device 13, the Z-axis driving device 11, the spindle 5, etc.). It is also possible to control the operation of the mechanical components of the.
  • the machine control device 60 can include, for example, a processor 61, a memory 62, an input device 63, a display device 64, and an interface 65, and these components are connected to each other by, for example, a bus. ..
  • the machine control device 60 may further include other components.
  • the processor 61 can be, for example, one or more CPUs (Central Processing Units).
  • the memory 62 can include, for example, a ROM (read only memory), a RAM (random access memory), and a storage device such as a hard disk drive.
  • the memory 62 stores a program for the processor 61 to control the operation of the arm 53 in association with the position of the shutter 7 during the tool changing operation (described later in detail). Further, the memory 62 can store various other control programs executed by the processor 61. Further, the memory 62 can store the pitch of the screw portion 7a and the nut portion 7b described above in relation to the calculation of the position of the shutter 7.
  • the processor 61 when the processor 61 receives the rotation amount from the encoder EN1 of the first motor SV1, the processor 61 releases the shutter based on the pitch of the screw portion 7a and the nut portion 7b stored in the memory 62 and the received rotation amount. 7 positions can be calculated.
  • the memory 62 can store the gear ratio between the first bevel gear 53d and the second bevel gear 53e described above in relation to the calculation of the rotational position of the arm portion 53b.
  • the memory 62 relates to the calculation of the translational position of the arm portion 53b, the gear ratio between the third bevel gear 53f and the fourth bevel gear 53g, and the length between the connecting portions of the crank 53h. Can be remembered.
  • the memory 62 can also store one or more predetermined positions of the shutter 7 associated with a predetermined movement of the arm 53.
  • the processor 61 starts at least the predetermined operation of the arm 53 so that at least the second motor SV2 and the third motor SV3 can be started. A signal is transmitted to one side (details will be described later).
  • the predetermined movement of the arm 53 associated with the predetermined position of the shutter 7 can include various movements. Further, the predetermined position of the shutter 7 stored in the memory 62 can be any position between the fully closed position and the fully opened position, including the fully closed position and the fully opened position of the shutter 7.
  • a predetermined operation of the arm 53 is performed from the arm standby position Sr2 (right view of FIG. 7) to the tool engagement position Sr1 (of FIG. 8) while the shutter 7 is open. It is a rotating operation (90 °) to the right).
  • the first predetermined position Ss1 of the shutter 7 stored in the memory 62 is a position away from the fully closed position so that the arm 53 does not contact the shutter 7. ..
  • the spindle 5 has already moved to the position for tool exchange in the stages of FIGS. 6 and 7, the arm 53 rotates first, and the spindle 5 is shown in FIGS. You may move to the position of the tool change currently performed. Up to the stage of FIG. 8, either the movement of the spindle 5 or the completion of the rotation of the arm 53 may be completed first. When the operation of the arm 53 is completed first, the main shaft 5 may approach the arm 53 from a direction in which a tool held by the arm 5 can engage with the gripper 53c.
  • a predetermined operation of the arm 53 is performed from the retracted position St2 (left side of FIG. 8) to the forward position St1 (right side of FIG. 9) while the shutter 7 is open.
  • the second predetermined position Ss2 of the shutter 7 stored in the memory 62 can be a position away from the fully closed position so that the advanced arm portion 53b does not contact the shutter 7.
  • the arm 53 may translate from the retracted position St2 to the advanced position St1 after the shutter 7 has finished opening (see FIG. 12).
  • the fourth predetermined position Ss4 of the shutter 7 stored in the memory 62 can be the fully open position.
  • one tool engagement position Sr1 in order to exchange the tool T1 and the tool T2 while the shutter 7 is open.
  • This is a rotation operation (180 °) from the tool engagement position Sr1 (see FIG. 11) to the other tool engagement position Sr1 (see FIG. 10).
  • the third predetermined position Ss3 of the shutter 7 stored in the memory 62 is the fully closed position so that the tools T1 and T2 (especially long tool T1) held by the arm 53 do not come into contact with the shutter 7. Can be located away from.
  • the arm 53 may rotate 180 ° to replace the tool T1 with the tool T2 after the shutter 7 has finished opening (see FIG. 12).
  • the fourth predetermined position Ss4 of the shutter 7 stored in the memory 62 can be the fully open position.
  • the predetermined operation of the arm 53 is performed while the shutter 7 is closed after the replacement of the tools T1 and T2 is completed and the tool engagement position Sr1 (see FIG. 14).
  • This is the rotation operation (90 °) from the arm standby position Sr2 (right figure in FIG. 15) to the arm standby position Sr2 (right figure).
  • the fifth predetermined position Ss5 of the shutter 7 stored in the memory 62 may be a position away from the fully closed position so that the arm 53 does not contact the shutter 7. it can.
  • the memory 62 can store a predetermined position of the shutter 7 for each tool according to the characteristics of the tool. Further, the memory 62 can store at least one of the moving speed of the shutter 7, the translational speed of the arm 53, and the rotating speed of the arm 53 for each tool according to the characteristics of the tool.
  • the memory 62 can store the predetermined position of the shutter 7 for each tool according to the length of the tool (eg, long, standard, short, etc.). For example, as described above, when the arm 53 rotates 180 ° to replace the tool T1 and the tool T2 while the shutter 7 is open (see FIGS. 10 and 11), the third predetermined value of the shutter 7 is set.
  • the position Ss3 must be a position away from the fully closed position so that the tools T1 and T2 (particularly the long tool T1) held by the arm 53 do not come into contact with the shutter 7. Therefore, the long tool T1 stores a position farther from the fully closed position than the short tool T2. It should be noted that when the arm 53 holds the long tool T1 and the short tool T2, the processor 61 uses the stored position for the long tool T1 for safety. ..
  • the memory 62 can store the predetermined position of the shutter 7 for each tool according to the weight of the tool (eg, heavy, standard, light, etc.).
  • the weight of the tool eg, heavy, standard, light, etc.
  • the third predetermined position Ss3 of the shutter 7 is The position should be apart from the fully closed position so that the tool T held by the arm 53 does not contact the shutter 7.
  • the rotation of the arm 53 may be delayed.
  • the shutter 7 may be largely damaged by the contact of the tool T. Therefore, the heavy tool T stores a position farther from the fully closed position than the light tool T.
  • the processor 61 uses the stored position for the heavy tool T for safety. ..
  • the memory 62 can store the moving speed of the shutter 7 for each tool according to the accuracy of the tool (for example, high accuracy and standard).
  • the machine tool 100 may include a blower 8 to remove dust and / or chips adhering to the shank portion of the tool T.
  • the blower 8 can be provided, for example, on the main shaft 5 or other components.
  • the blower 8 can blow a gas (for example, air) to the shank portion of the tool T before the tool T is attached to the spindle 5. When the gas is blown to the shank portion, the tool T may be moved back and forth by translating the arm 53 back and forth.
  • the input device 63 can include, for example, a mouse, a keyboard, mechanical buttons, and the like
  • the display device 64 can include, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display.
  • a touch panel may be used as the input device 63 and the display device 64.
  • the interface 65 can have an interface circuit for connecting the machine control device 60 to an external device.
  • the NC device 70 is configured to control the X-axis driving device 12, the Y-axis driving device 13, the Z-axis driving device 11, and the spindle 5 based on the NC program.
  • the NC device 70 can include components such as a processor, a memory, an input device, a display device, and an interface.
  • the machine controller 60 and the NC device 70 may be able to communicate with each other and cooperate when needed.
  • the processor 61 refers to the memory 62 to determine whether or not the shutter 7 has reached the predetermined positions Ss1 to Ss5, and according to the program stored in the memory 62, The movement of the arm 53 is controlled in relation to the position.
  • the processor 61 of the machine control device 60 sends a signal to the drive device of the tool magazine 51, and the tool magazine 51 moves the desired tool T2 to the selected position S1.
  • the shifter 52 holds the tool pot P holding the tool T2.
  • the processor 61 sends a signal to the drive device of the shifter 52, and the shifter 52 rotates from the selected position S1 to the next tool standby position S2.
  • a long tool T1 is attached to the spindle 5, and a short tool T2 is located at the next tool standby position S2.
  • the shutter 7 is located at the fully closed position Ss0.
  • the processor 61 sends a signal to the first motor SV1, and the shutter 7 starts moving from the fully closed position Ss0 to the fully open position Ss4. The shutter 7 reaches the first predetermined position Ss1.
  • processor 61 determines that shutter 7 has reached the first predetermined position Ss1 stored in memory 62, processor 61 causes second motor A signal is sent to SV2, and the arm 53 rotates from the arm standby position Sr2 to the tool engagement position Sr1 (see the right diagram of FIG. 8).
  • the shutter 7 continues to move toward the fully open position Ss4, and the shutter 7 reaches the second predetermined position Ss2.
  • the processor 61 determines that the shutter 7 has reached the second predetermined position Ss2 stored in the memory 62 based on the signal from the encoder EN1, the processor 61 sends a signal to the third motor SV3 to cause the arm 53 translates from the backward position St2 to the forward position St1.
  • the tool T1 is removed from the spindle 5, and the tool T2 is pulled out from the tool pot P at the next tool standby position S2.
  • the shutter 7 continues to move toward the fully open position Ss4, and the shutter 7 reaches the third predetermined position Ss3.
  • the processor 61 determines that the shutter 7 has reached the third predetermined position Ss3 stored in the memory 62 based on the signal from the encoder EN1, the processor 61 causes the second motor to operate. A signal is sent to SV2, and the arm 53 rotates 180 ° to the tool engagement position Sr1 on the opposite side. As a result, the long tool T1 moves to the next tool standby position S2 side, and the short tool T2 moves to the spindle 5 side. Further, the processor 61 sends a signal to the blower 8 so that the gas is blown to the shank portion of the tool T2.
  • the shutter 7 continues to move toward the fully open position Ss4, and the shutter 7 reaches the fully open position Ss4.
  • the processor 61 determines that the shutter 7 has reached the fully open position Ss4 stored in the memory 62 based on the signal from the encoder EN1, the processor 61 sends a signal to the third motor SV3.
  • the arm 53 moves from the forward movement position St1 to the backward movement position St2.
  • the long tool T1 is inserted into the tool pot P held at the next tool standby position S2, and the short tool T2 is attached to the spindle 5.
  • the processor 61 sends a signal to the blower 8 and the blower 8 stops.
  • processor 61 determines that arm 53 has moved from forward position St1 to backward position St2 based on a signal from encoder EN3
  • processor 61 sends a signal to first motor SV1 to release the shutter. 7 starts moving from the fully open position Ss4 to the fully closed position Ss0.
  • the shutter 7 reaches the fifth predetermined position Ss5.
  • the processor 61 determines that the shutter 7 has reached the fifth predetermined position Ss5 stored in the memory 62 based on the signal from the encoder EN1
  • the processor 61 causes the arm 53 to move from the tool engagement position Sr1 to the arm 53. Confirm that the rotation to the standby position Sr2 is completed (see the right diagram of FIG. 15). If the rotation is not completed, the movement of the shutter is stopped.
  • the processor 61 sends a signal to the shifter 52, and the shifter 52 rotates from the next tool standby position S2 to the selected position S1 (FIG. 16). (See the figure on the left). As a result, the tool T1 is returned to the tool magazine 51. Further, subsequently, the shutter 7 continues to move toward the fully closed position Ss0.
  • the shutter 7 reaches the fully closed position Ss0, and a series of tool exchange operations ends.
  • the arm 53 has a tool engagement position Sr1 for engaging the tool T mounted on the spindle 5 and the tool T at the next tool standby position S2, and the arm 53.
  • the machine control device 60 includes the arm 5 based on the position of the shutter 7 detected by the encoder EN1 and the predetermined positions Ss1 to Ss5 of the shutter 7 stored in the memory 62. Rotation and to control at least one of translational movement of, for controlling at least one of the second motor SV2 and a third motor SV3. Therefore, since the rotation and translation of the arm 53 are operated by the second motor SV2 and the third motor SV3 which are separate from each other, the operation of the arm 53 can be adjusted more finely.
  • the machine control device 60 detects that the encoder EN1 has moved the shutter 7 from the fully closed position Ss0 to a predetermined position Ss1 (see the left diagrams of FIGS. 7 and 8). At this time, the second motor SV2 is controlled so as to rotate the arm 53 from the arm standby position Sr2 to the tool engagement position Sr1. Therefore, since the arm 53 also rotates at the same time when the shutter 7 is open, the rotating operation of the arm 53 can be completed earlier.
  • the machine tool 100 includes the encoder EN3 that can detect the translational position of the arm 53 in the entire region between the forward position St1 and the backward position St2, and the machine control device 60 includes the encoder EN3.
  • the shutter 7 starts moving from the fully open position Ss4 to the fully closed position Ss0.
  • the encoder EN1 detects that the shutter 7 has moved from the fully open position Ss4 to the predetermined position Ss5 (see the left diagram in FIG. 15) by controlling the first motor SV1, the arm 53 is moved to the tool engaging position.
  • the second motor SV2 is controlled so as to start rotation from the combined position Sr1 toward the arm standby position Sr2 (see the right diagram of FIG. 15). Therefore, when the arm 53 moves to the retracted position St2 (that is, the tool T is attached to the spindle 5), the shutter 7 starts to close, and the arm 53 also rotates at the same time while the shutter 7 is closed. The rotation operation can be finished earlier.
  • the arm 53 moves to the fully open position Ss4. (See the left diagram of FIG. 12).
  • the arm 53 may stop the translation at the third position Ss3 (see the left diagram of FIG. 11) and may not move to the fully open position Ss4.
  • the stop position Ss3 of the arm 53 changes according to the length of the tool T, and the memory 62 stores the stop position Ss3 of the arm 53 according to the length of the tool T.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Auxiliary Devices For Machine Tools (AREA)

Abstract

L'invention concerne une machine-outil comprenant : un bras (53) pour échanger un outil (T) entre un arbre principal (5) dans une chambre d'usinage (R1) et une position d'attente d'outil secondaire (S2) dans une chambre de maintien d'outil (R2) ; un obturateur (7) qui est disposé dans une ouverture (6a) définie dans une paroi (6) qui sépare entre la chambre d'usinage (R1) et la chambre de maintien d'outil (R2) ; un premier moteur (SV1) pour ouvrir et fermer l'obturateur (7) ; un détecteur de position d'obturateur (EN1) qui peut détecter la position de l'obturateur (7) dans toute la plage entre la position complètement ouverte et la position complètement fermée ; un dispositif de stockage qui stocke une position prescrite de l'obturateur (7) associée à une opération prescrite du bras (53) ; et un dispositif de commande qui est configuré pour effectuer une opération prescrite du bras (53) sur la base de la position de l'obturateur (7) détectée par le détecteur de position d'obturateur (EN1) et de la position prescrite de l'obturateur (7) stockée dans le dispositif de stockage.<u /> <u />
PCT/JP2018/040596 2018-10-31 2018-10-31 Machine-outil WO2020090055A1 (fr)

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US17/289,853 US11780040B2 (en) 2018-10-31 2018-10-31 Machine tool
JP2020554683A JP7166357B2 (ja) 2018-10-31 2018-10-31 工作機械
PCT/JP2018/040596 WO2020090055A1 (fr) 2018-10-31 2018-10-31 Machine-outil

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US20210402541A1 (en) 2021-12-30

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